/****************************************************************************\
 * @file    BR_CenterController.h
 * @author  傅帅
 * @date    2019/12/30
 * @brief   主控逻辑
 *
 ******************************************************************************
 * @attent
 ****************************************************************************/
#ifndef BR_CENTER_CONTROLLER_H
#define BR_CENTER_CONTROLLER_H
#include "FreeRTOS.h"
#include "task.h"

#define BR_CenterControllerTaskPrio 15
#define BR_CenterControllerTaskStkSize 1024
#define BR_CONTROL_LOOP_RATE 50

typedef enum {
    CHASSIS_MODE,
    WHEELS_MODE
}BR_MotionMode_t;

void BR_vCenterControllerTask(void);
void BR_vCenterControllerInit(void);

extern TaskHandle_t BR_CenterControllerTaskHandler;
#endif
